Collision checking between spawned collision_object and Octomap

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Hi im currently trying to figure out how to check for collisions between a cylinder object that i will spawn in the collision objects topic and the already available octomap in the planning scene. I know you can do collision checking with the robot and collisionobj/octomap, but not sure about between collision objects/octomap.

One way i can think of is by attaching the cylinder collision object to the robot and then check for collisions with the octomap. Though maybe there is another way.